WO2018018769A1 - 减震结构及使用该减震结构的云台组件、无人机 - Google Patents

减震结构及使用该减震结构的云台组件、无人机 Download PDF

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Publication number
WO2018018769A1
WO2018018769A1 PCT/CN2016/103164 CN2016103164W WO2018018769A1 WO 2018018769 A1 WO2018018769 A1 WO 2018018769A1 CN 2016103164 W CN2016103164 W CN 2016103164W WO 2018018769 A1 WO2018018769 A1 WO 2018018769A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
hole
connecting member
structure according
Prior art date
Application number
PCT/CN2016/103164
Other languages
English (en)
French (fr)
Inventor
廖然
刘浩
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680086333.8A priority Critical patent/CN109219558B/zh
Publication of WO2018018769A1 publication Critical patent/WO2018018769A1/zh
Priority to US16/255,599 priority patent/US10684535B2/en
Priority to US16/896,936 priority patent/US10969664B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2064—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and panning
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/373—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by having a particular shape
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage

Definitions

  • the invention relates to a shock absorbing structure, in particular to a cloud platform damping structure and a cloud platform and a drone using the same.
  • shock absorbing balls are usually used for stable shooting.
  • the shock absorbing ball is usually connected with the connecting member by using a snapping structure.
  • the shock absorbing ball is made of an elastic material, it is easily deformed to be detached from the connecting member after being subjected to a large force, thereby causing the cloud table to be damaged or even Damage to the shooting device.
  • a pan/tilt structure for connecting a pan/tilt to a carrier.
  • the pan-tilt damping node includes a first connecting member connectable to the pan/tilt, a second connecting member connectable to the carrier, and elastically disposed between the first connecting member and the second connecting member Shock absorber.
  • the pan-tilt structure further includes a retaining member connected to the damper body and biasing the damper body against the damper body by a force of the damper body being stretched by vibration At least one of a connector and the second connector.
  • shock absorbing body is a shock absorbing ball.
  • the damper body includes a main body portion, a first fixing portion and a second fixing portion, and the first fixing portion and the second fixing portion are respectively connected to opposite sides of the main body portion,
  • the first fixing portion is connected to the first connecting member, and the second fixing portion is connected to the second connecting member.
  • the body portion is spherical.
  • the main body portion is provided with a first through hole and a second through hole.
  • the opening directions of the first through hole and the second through hole are perpendicular to each other; and/or the center point of the first through hole and the second through hole and the center point of the damper body coincide.
  • the first fixing portion is an elastic ring sleeve that is sleeved on the first connecting member.
  • the first connecting member is formed with a notch, and the first fixing portion is sleeved on the The notch position of the first connector.
  • the second fixing portion includes a locking portion and a stopping portion connected to the locking portion, and the second connecting member is provided with an engaging hole corresponding to the engaging portion, and the engaging portion is inserted into the locking portion
  • the engaging hole passes through the engaging hole and abuts against a surface of the second connecting member to prevent the engaging portion from coming out of the engaging hole.
  • the size of the blocking portion is larger than the size of the engaging portion, such that the blocking portion forms a flange protruding from a peripheral side of the engaging portion at a periphery of the engaging portion, and the flange abuts Relying on the surface of the second connector.
  • the second connecting member is formed with a flange corresponding to the engaging hole, and the flange is disposed around the corresponding engaging hole, and the circumferential side of the stopping portion is The inner surface of the flange abuts.
  • the thickness of the stopper is the same as the height of the flange, or the thickness of the stopper is greater than the height of the flange.
  • the detachment preventing member includes an insertion portion and an abutting portion connected to the insertion portion, the insertion portion is inserted into the damper body, and the abutting portion abuts the damper portion
  • the body is capable of holding the shock absorber against the second connecting member by a force that the shock absorber is stretched by vibration.
  • the damper body is provided with an insertion hole, the insertion hole extends through the second fixing portion and extends into a part of the main body portion, and the insertion portion is inserted into the insertion hole and The inner surface of the insertion hole is friction fit.
  • the length of the plug portion is smaller than the height of the damper body.
  • the insertion portion forms a head away from one end of the abutting portion, the size of the head is larger than the size of the insertion portion, and the head is frictionally engaged with the damper body.
  • a pan/tilt head assembly includes a pan/tilt head, a load connected to the pan/tilt head, and a pan-tilt structure as described above.
  • a drone includes a fuselage and a pan/tilt assembly disposed on the fuselage.
  • the pan/tilt assembly includes a pan/tilt, a gimbal load connected thereto, and a pan-tilt structure as described above.
  • the pan-tilt structure adopts the anti-dropping member to abut the shock absorbing body by the vibration pulling force of the damper body itself, so as to prevent the damper body from being detached from the connecting member due to vibration, thereby ensuring the shock absorbing body.
  • the stability of the connection ensures the damping effect of the gimbal.
  • FIG. 1 is a perspective view of a drone according to an embodiment of the present invention.
  • FIG. 2 is an enlarged rear perspective view of the pan/tilt assembly of the drone of FIG. 1.
  • FIG. 3 is an exploded view of another perspective of the pan/tilt assembly of FIG. 2.
  • FIG. 4 is a cross-sectional view showing a partial structure of the pan/tilt head assembly of FIG. 1.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • an embodiment of the present invention provides a drone 1000, which may be an unmanned aerial vehicle, such as a rotorcraft, a fixed-wing aircraft, or a fly that is mixed with a fixed wing and a rotor. Walker.
  • the rotor may be a single rotor, a double rotor, a triple rotor, a quadrotor, a six-rotor and an eight-rotor.
  • the drone can also be a drone in water (for example, an unmanned or unmanned submarine), a drone on the ground (for example, an unmanned vehicle). ), drones in the air (for example, unmanned aerial vehicles) and so on.
  • the UAV 1000 is an Unmanned Aerial Vehicle (UAV).
  • the drone 1000 includes a body 1 and a pan/tilt assembly 2 mounted on the body 1.
  • the fuselage 1 is capable of carrying and connecting the pan-tilt assembly 2, and thus, in actual operation, the fuselage is a carrier carrying the pan-tilt assembly 2.
  • the body 1 is a hollow structure, and the inside of the body 1 may be provided with a circuit board, a controller, and a sensor for sensing the state of the body itself and/or the surrounding environment (for example, an inertial measurement unit, Components such as height sensors, temperature sensors, etc.).
  • the pan/tilt assembly 2 includes a shock absorbing structure 20, a pan/tilt head 22, and a load 23.
  • the shock absorbing structure 20 is connected to the airframe 1 and the cloud platform 22 .
  • the shock absorbing structure 20 is integrally disposed inside the airframe 1
  • the cloud platform 22 carries the The load 23 is on it.
  • the pan/tilt head 22 may be a single-axis pan/tilt head, a two-axis pan/tilt head or a three-axis pan/tilt head.
  • the pan/tilt head 22 and the load 23 are disposed outside the body 1.
  • the load 23 can be any sensing device or imaging device that is suitably mounted on the pan/tilt.
  • the load 23 is a camera device, such as a camera.
  • the shock absorbing structure 20 includes a plurality of shock absorbing bodies 202 and a connecting component 201 connecting the pan/tilt assembly 2 and the body 1 .
  • the connection assembly 201 includes a first connector 200 and a second connector 204.
  • the first connecting member 200 is connected to the pan/tilt assembly 2, and the second connecting member 204 is connected to the body 1.
  • the damper body 202 is coupled between the first connecting member 200 and the second connecting member 204.
  • the shock absorbing body 202 allows the first connecting member 200 to move relative to the second connecting member 204 by elastic deformation to achieve the purpose of damping.
  • the first connecting member 200 is substantially in the shape of a plate, and includes a connecting plate 2000 and two connecting arms 2004 respectively disposed on opposite sides of the connecting plate 2000.
  • the connecting plate 2000 includes two strips arranged at intervals, so that the weight of the connecting plate 2000 can be reduced, and accordingly, the weight of the first connecting member 200 can also be reduced.
  • the connecting plates 2000 are disposed in parallel with each other. It can be understood that the connecting board 2000 can also be changed according to actual needs. For example, the number of the elongated strips included in the connecting board 2000 can be changed. The elongated strips may be inclined at a predetermined angle, or the connecting sheets 2000 may be an integral plate.
  • the connecting arms 2004 are respectively connected to opposite sides of the connecting plate 2000.
  • the connecting arms 2004 are substantially elongated, and each of the connecting arms 2004 includes a first end portion 2005 and a second end portion 2006 opposite to the first end portion 2005, each of the first end portions 2005. And each of the second ends 2006 is connected to a shock absorbing body 202.
  • the connecting arm 2004 is formed with a neck portion 2004a adjacent to the first end portion 2005 and the second end portion 2006, respectively.
  • the neck portion 2004a is formed with a lateral notch, that is, the width of the neck portion 2004a is smaller than the width of the corresponding first end portion 2005 or the second end portion 2006, and more specifically,
  • Each of the neck portions 2004a is formed with a notch on opposite sides.
  • Each of the neck portions 2004a is coupled to a corresponding one of the shock absorbing bodies 202, and the notch structure of the neck portion 2004a can prevent the shock absorbing body 202 from the corresponding first end portion 2005 or the second end portion
  • the 2006 disengagement makes the connection between the first connecting member 200 and the damper body 202 stronger.
  • One of the connecting arms 2004 is also connected to the platform 22, and the connecting arm 2004 connected to the platform 22 is provided with a through hole 2004b, and the platform 22 is formed with a connection corresponding to the through hole 2004b.
  • Hole 220 is a threaded hole, and the connecting arm 2004 and the pan/tilt head 22 are fixedly connected by a bolt passing through the through hole 2004b and screwed to the connecting hole 220.
  • the connecting arm 2004 and the platform 22 may be connected by other means, such as, for example, snapping, gluing, riveting, welding, interference fit, etc.; in addition, the connecting arm 2004 It can be integrally formed with the pan/tilt head 22.
  • the connecting plate 2000 and the connecting arm 2004 are integrally formed. It can be understood that the components of the first connecting member 200 may not be integrally formed, but are fixed together by various known fixing methods, such as screwing, snapping, gluing, riveting, welding, interference fit. Wait.
  • the second connecting member 204 is substantially plate-shaped.
  • a first connecting portion 2040 and a second connecting portion 2042 are formed on the second connecting member 204.
  • the first connecting portion 2040 is configured to connect the second connecting member 204 to the body 1, and the second connecting portion 2042 corresponds to the shock absorbing body 202 for connecting the corresponding minus Shock body 202.
  • the first connecting portion 2040 is a stud having an internally threaded hole formed on a surface of the second connecting member 204. Specifically, the first connecting portion 2040 is formed in the second portion. The connector 204 faces away from a side surface of the first connector 200.
  • the first connecting portion 2040 is a cylindrical stud. It can be understood that the first connecting portion 2040 can also be a prismatic stud, an elliptical stud, a lug, or the like. Alternatively, the first connecting portion 2040 may not be a stud, but may be directly opened. a threaded hole on the surface of the second connecting member 204. At this time, a protrusion corresponding to the first connecting portion 2040 may be formed on the body 1.
  • the second connector 204 may be fixedly coupled to the body 1 by fasteners (eg, bolts, screws, etc.) that pass through the first connector 2040.
  • the second connecting member 204 and the body 1 may be connected by other means, such as, for example, engaging, gluing, riveting, welding, interference fit, etc.;
  • the two connectors 204 are integrally formed with the body 1.
  • the second connecting portion 2042 includes an engaging hole 2042a corresponding to the damper body 202 and a flange 2042b corresponding to the engaging hole 2042a.
  • the engaging hole 2042a is for engaging with the damper body 202 to connect the damper body 202 to the second connecting member 204.
  • the engaging hole 2042a is a circular hole. It can be understood that the engaging hole 2042a may also have any other suitable shape, for example, a triangular hole, a square hole, a polygonal hole, an elliptical hole or the like. Regular or irregularly shaped holes.
  • the flange 2042b protrudes from a side surface of the second connecting member 204 facing away from the first connecting member 200, and the flange 2042b is disposed around the corresponding engaging hole 2042a.
  • the flange 2042b is spaced apart from the corresponding circumference of the engaging hole 2042a by a predetermined distance to form an bearing surface 2042c between the flange 2042b and the corresponding periphery of the engaging hole 2042a.
  • the flange 2042b is substantially an annular flange.
  • the flange 2042b may have other shapes, such as an elliptical ring shape, a polygonal ring shape, etc.; in addition, the flange 2042b It may be a continuous continuous ring shape or a discontinuous ring shape composed of a plurality of segments.
  • the bearing surface 2042c is flush with a side surface of the second connecting member 204 facing away from the first connecting member 200. In other embodiments, the bearing surface 2042c may also be higher or lower than The second connecting member 204 faces away from a side surface of the first connecting member 200.
  • the flange 2042b can be in contact with a corresponding side portion of the damper body 202 to prevent the damper body 202 from being opposite to the first portion.
  • the two connecting members 204 are laterally moved to make the connection between the second connecting member 204 and the corresponding shock absorbing body 202 more stable, and the second connecting member 204 and the corresponding shock absorbing body are reduced. Shaking between 202.
  • the flange 2042b can also be omitted.
  • the damper body 202 includes a main body portion 2020, a first fixing portion 2022, and a second fixing portion 2024.
  • the first fixing portion 2022 and the second fixing portion 2024 are respectively connected to opposite sides of the main body portion 2020. On both sides.
  • the first fixing portion 2022 is connected to the first connecting member 200, and the second fixing portion 2024 is connected to the second connecting member 204.
  • the main body portion 2020 is substantially spherical, and defines a first through hole 2021 and a second through hole 2023.
  • the opening direction of the first through hole 2021 and the second through hole 2023 is substantially perpendicular.
  • a center point of the first through hole 2021 and the second through hole 2023 coincides with a center point of the damper body 202, and a plurality of through holes are formed in one of the main body portions 2020 to further reduce shock absorption. Effect.
  • the body portion 2020 is made of an elastic material such as rubber, silica gel or the like.
  • the main body portion 2020 may also have other shapes, such as a polyhedron, an ellipsoid, etc.; the first through hole 2021 and the second through hole 2023 may be omitted, or Further through holes of the first through hole 2021 and the second through hole 2023 may be formed in the main body portion 2020.
  • the first fixing portion 2022 is for connecting the first end portion 2005 or the second end portion 2006 of the connecting arm 2004 of the first connecting member 200.
  • the second fixing portion 2024 is for connecting the second connecting member 204.
  • the first fixing portion 2022 is a ring sleeve made of an elastic material, and can be sleeved on the first end portion 2005 or the second end portion 2006 to fixably connect the shock absorbing body 202 with the first connection. Piece 200.
  • the second fixing portion 2024 includes a locking portion 2024a and a stopping portion 2024b connected to the locking portion 2024a.
  • the blocking portion 2024b is connected to an end of the locking portion 2024a away from the main body portion 2020.
  • the size of the portion 2024b is larger than the size of the engaging portion 2024a such that the blocking portion 2024b forms a flange protruding from the circumferential side of the engaging portion 2024a at the periphery of the engaging portion 2024a.
  • the outer peripheral dimension of the engaging portion 2024a is substantially equivalent to the size of the corresponding engaging hole 2042a.
  • the locking portion 2024a and the blocking portion 2024b are both substantially cylindrical, the blocking portion 2024b is coaxially disposed with the locking portion 2024a, and the diameter of the blocking portion 2024b is larger than The diameter of the engaging portion 2024a is described.
  • the thickness of the stop portion 2024b is substantially the same as the height of the flange 2042b.
  • the thickness of the stop portion 2024b is slightly larger than the height of the flange 2042b.
  • the blocking portion 2024b can also be a prismatic stud at the engaging portion 2024a.
  • Other suitable shapes such as an elliptical stud and a lug stud may be the same or different from the shape of the engaging portion 2024b and the engaging portion 2024a.
  • first fixing portion 2022 and the second fixing portion 2024 and the main body portion 2020 are integrally formed. In other embodiments, the first fixing portion 2022 and the second fixing portion 2024 may be separately formed and fixedly connected to the main body portion 2020 by gluing or the like.
  • the damper structure 20 further includes a detachment preventing member 206 corresponding to the damper body 202, and the detachment preventing member 206 can prevent the corresponding damper body 202 from coming off the second connecting member 204.
  • Each of the retaining members 206 includes a plug portion 2061 and an abutting portion 2062 connected to the plug portion 2061.
  • the insertion portion 2061 is substantially cylindrical
  • the abutting portion 2062 is substantially disk-shaped
  • the diameter of the abutting portion 2062 is larger than the diameter of the insertion portion 2061, so that the prevention
  • the release member 206 is generally in the shape of a " ⁇ ".
  • the shape of the plug portion 2061 and the abutting portion 2062 are not limited to the illustrated embodiment, and may be appropriately changed according to different requirements, and will not be described in detail.
  • the length of the insertion portion 2061 is smaller than the height of the damper body 202. In other words, the insertion portion 2061 cannot penetrate the damper body 202 after being inserted into the damper body 202.
  • the member 206 does not transmit vibration between the platform 22 and the body 1.
  • the damper body 202 defines an insertion hole 2026 extending through the second fixing portion 2024 and extending into a portion of the main body portion 2020 .
  • the insertion hole 2026 is in communication with the first through hole 2021 and the second through hole 2023.
  • the inner diameter of the insertion hole 2026 is slightly smaller than the diameter of the insertion portion 2061, and the surface of the insertion portion 2061 and the insertion when the insertion portion 2061 is inserted into the insertion hole 2026
  • the inner surface of the through hole 2026 is tightly fitted, and the frictional force between the outer surface of the insertion portion 2061 and the inner surface of the insertion hole 2026 makes the retaining member 206 less likely to escape from the insertion hole 2026.
  • the head 2061a can further prevent the retaining member 206 from coming out of the insertion hole 2026.
  • the stopping portion 2024b When the connecting portion 2024a is engaged with the corresponding engaging hole 2042a, the stopping portion 2024b bears against the bearing surface 2042c, and the circumferential side surface of the stopping portion 2024b and the flange The inner surface of the 2042b abuts, and therefore, the flange 2042b can limit the damping body 202 relative to The second connecting member 204 moves laterally.
  • the stopping portion 2024b abuts against the bearing surface 2042c, and the second fixing portion can be prevented.
  • connection between the 2024 and the second connecting member 204 is disengaged; the insertion portion 2061 of the retaining member 206 is inserted into the corresponding insertion hole 2026 of the damper body 202, and the abutting portion 2062 is abutted.
  • the damper body 202 pulls the detachment member 206 to move together, so that the abutting portion 2062 is abutted against the Since the stopper portion 2024b is described, the frictional resistance received by the stopper portion 2024b is increased, and the stopper portion 2024b can be released from the corresponding engagement hole 2042a due to strong vibration, so that the second connector 204 can be secured. Stability and robustness of the connection with the shock absorber.
  • the first fixing portion 2022 can also adopt a similar structure of the second fixing portion 2024.
  • the first connecting member 200 can be disposed with the second connecting portion 2042. A similar structure.

Abstract

一种云台减震结构及使用该减震结构的云台组件、无人机。所述云台减震结构用于将云台连接至载体，包括能够与所述云台相连的第一连接件(200)、能够与所述载体相连的第二连接件(204)以及弹性设置于第一连接件(200)以及所述第二连接件(204)之间的减震体(202)。所述云台减震结构还包括防脱件(206)，所述防脱件(206)与减震体(202)相连并借由所述减震体(202)因震动而拉伸的力将所述减震体(202)抵持于所述第一连接件(200)及所述第二连接件(204)中的至少一个。所述云台减震结构采用所述防脱件(206)利用减震体(202)本身的震动拉力抵紧减震体(202)，以防止减震体(202)因震动脱离连接件，因此能够确保减震体(202)的连接的稳定性，确保云台的减震效果。

Description

减震结构及使用该减震结构的云台组件、无人机 技术领域
本发明涉及一种减震结构，尤其涉及一种云台减震结构及使用该云台减震结构的云台、无人机。
背景技术
在目前云台设计中，通常采用减震球减震，以稳定拍摄。所述减震球通常采用卡合结构与连接件连接，然而，由于减震球由弹性材料制成，在承受较大的力后容易变形而脱离所述连接件，造成云台减震失效甚至损坏拍摄设备。
发明内容
有鉴于此，有必要提供一种能够避免上述问题的云台减震结构及使用该云台减震机构的云台、无人机。
一种云台减震结构，用于将云台连接至载体。所述云台减震结包括构能够与所述云台相连的第一连接件、能够与所述载体相连的第二连接件以及弹性设置于第一连接件以及所述第二连接件之间的减震体。所述云台减震结构还包括防脱件，所述防脱件与减震体相连并借由所述减震体因震动而拉伸的力将所述减震体抵持于所述第一连接件及所述第二连接件中的至少一个。
进一步地，所述减震体为减震球。
进一步地，所述减震体包括主体部、第一固定部及第二固定部，所述第一固定部以及所述第二固定部分别连接于所述主体部的相背的两侧，所述第一固定部与所述第一连接件相连，所述第二固定部与所述第二连接件相连。
进一步地，所述主体部呈球形。
进一步地，所述主体部开设有第一贯孔及第二贯孔。
进一步地，所述第一贯孔及第二贯孔的开孔方向相互垂直；及/或，所述第一贯孔及所述第二贯孔的中心点与所述减震体的中心点重合。
进一步地，所述第一固定部为弹性环套，其套设于所述第一连接件上。
进一步地，所述第一连接件上形成有凹口，所述第一固定部套设于所述 第一连接件的凹口位置处。
进一步地，所述第二固定部包括卡入部以及与所述卡入部相连的挡止部，所述第二连接件开设有对应于所述卡入部的卡合孔，所述卡入部卡入所述卡合孔，所述挡止部穿过所述卡合孔并抵靠于所述第二连接件的表面，以防止所述卡入部自所述卡合孔脱出。
进一步地，所述挡止部的尺寸大于所述卡入部的尺寸，使得所述挡止部于所述卡入部的周缘形成凸出于所述卡入部周侧面的凸缘，所述凸缘抵靠于所述第二连接件的表面。
进一步地，所述第二连接件上形成有对应于所述卡合孔的凸缘，所述凸缘围设于对应的所述卡合孔的周围，所述挡止部的周侧面与所述凸缘的内表面抵接。
进一步地，所述挡止部的厚度与所述凸缘的高度相同，或者所述挡止部的厚度大于所述凸缘的高度。
进一步地，所述防脱件包括插接部以及与所述插接部相连的抵接部，所述插接部与所述减震体插接，所述抵接部抵接所述减震体上并能够借由所述减震体因震动而拉伸的力将所述减震体抵持于所述第二连接件。
进一步地，所述减震体开设有插接孔，所述插接孔贯穿所述第二固定部并延伸至部分所述主体部内，所述插接部与所述插接孔插接并与所述插接孔的内表面摩擦配合。
进一步地，所述插接部的长度小于所述减震体的高度。
进一步地，所述插接部远离所述抵接部的一端形成头部，所述头部的尺寸大于所述插接部的尺寸，所述头部与所述减震体摩擦配合。
一种云台组件，包括云台、连接于所述云台的负载以及以上所述的云台减震结构。
一种无人机，包括机身及设置在机身上的云台组件。所述云台组件包括云台、连接于所述云台负载以及以上所述的云台减震结构。
相对于现有技术，所述云台减震结构采用所述防脱件利用减震体本身的震动拉力抵紧减震体，以防止减震体因震动脱离连接件，因此能够确保减震体的连接的稳定性，确保云台的减震效果。
附图说明
图1是本发明实施方式提供的一种无人机的立体图。
图2是图1的无人机的云台组件的放大后立体图。
图3是图2的云台组件的另一视角的分解图。
图4是图1的云台组件的部分结构的剖视图。
主要元件符号说明
无人机               1000
机身                 1
云台组件             2
减震结构             20
连接组件             201
第一连接件           200
连接板               2000
连接臂               2004
第一端部             2005
第二端部             2006
颈部                 2004a
通孔                 2004b
第二连接件           204
第一连接部           2040
第二连接部           2042
卡合孔               2042a
凸缘                 2042b
承靠面               2042c
减震体               202
主体部               2020
第一贯孔             2021
第二贯孔             2023
第一固定部           2022
第二固定部           2024
卡入部               2024a
挡止部               2024b
插接孔               2026
防脱件               206
插接部               2061
头部                 2061a
抵接部               2062
云台                 22
连接孔               220
负载                 23
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1，本发明实施方式提供一种无人机1000，所述无人机1000可为无人飞行器，例如旋翼飞行器、固定翼飞行器或固定翼与旋翼混合的飞 行器。其中所述旋翼可为单旋翼、双旋翼、三旋翼、四旋翼、六旋翼及八旋翼等。可以理解，在其他实施方式中，所述无人机还可以是在水里的无人机(例，无人船或无人潜水艇)，在地面上的无人机(例，无人车)，在空中的无人机(例，无人飞行器)等。在本实施例中，所述无人机1000为旋翼无人飞行器(Unmanned Aerial Vehicle,UAV)。所述无人机1000包括机身1和装载在机身1上的云台组件2。
所述机身1能够承载和连接所述云台组件2，因此，实际工作中，所述机身为承载所述云台组件2的载体。本实施方式中，所述机身1为中空结构，所述机身1内部可以设置电路板、控制器以及用于感测机身本身状态及/或周围环境的传感器(例如，惯性测量单元、高度传感器、温度传感器等)等元件。
请参阅图2所示，所述云台组件2包括减震结构20、云台22及负载23。其中所述减震结构20连接所述机身1以及所述云台22，本实施方式中，所述减震结构20整体设置在所述机身1的内部，所述云台22承载所述负载23于其上。所述云台22可为单轴云台、双轴云台或三轴云台。所述云台22及所述负载23设置在所述机身1的外部。所述负载23可为任意适宜挂载在云台上的传感装置或拍摄装置，在本实施方式中，所述负载23为拍摄装置，例如，相机。
请同时参阅图3，所述减震结构20包括多个减震体202及连接所述云台组件2及所述机身1的连接组件201。所述连接组件201包括第一连接件200以及第二连接件204。所述第一连接件200与所述云台组件2相连，所述第二连接件204与所述机身1相连。所述减震体202连接于所述第一连接件200以及所述第二连接件204之间。所述减震体202通过弹性形变允许所述第一连接件200相对于所述第二连接件204运动，以达到减震的目的。
所述第一连接件200大致呈板状，包括连接板2000及两个分别设置在所述连接板2000相对侧的连接臂2004。本实施方式中，所述连接板2000包括两个间隔设置的长条状板，如此，所述连接板2000的重量可以降低，相应地，所述第一连接件200的重量也得以降低。具体地，所述连接板2000相互平行间隔设置。可以理解，所述连接板2000也可以依据实际需求作其他的变化，例如，所述连接板2000包括的长条状板的数量可以变化，所述 长条状板之间可以呈预定角度倾斜，或者所述连接板2000可以一个整体的板。
两个所述连接臂2004分别连接于所述连接板2000的相对两侧。所述连接臂2004大致呈长条状，每一个所述连接臂2004分别包括第一端部2005及与所述第一端部2005相背的第二端部2006，每一个第一端部2005及每一个第二端部2006均连接一个减震体202。所述连接臂2004于靠近所述第一端部2005以及所述第二端部2006分别形成有一个颈部2004a。本实施方式中，所述颈部2004a形成有侧向凹口，也即，所述颈部2004a的宽度小于对应的所述第一端部2005或第二端部2006的宽度，更具体地，每一个所述颈部2004a相背两侧均形成有凹口。每一个所述颈部2004a连接一个对应的所述减震体202，所述颈部2004a的凹口结构能够防止所述减震体202自对应的所述第一端部2005或第二端部2006脱离，使得第一连接件200与减震体202之间的连接更为牢固。
其中一个所述连接臂2004还与所述云台22连接，与云台22连接的所述连接臂2004设有通孔2004b，所述云台22上形成有对应于所述通孔2004b的连接孔220。本实施方式中，所述连接孔220为螺纹孔，所述连接臂2004与所述云台22之间通过穿过所述通孔2004b并与所述连接孔220螺纹连接的螺栓固定连接。可以理解，在其他实施方式，所述连接臂2004与所述云台22之间可以通过其他方式连接，例如，卡合、胶合、铆接、焊接、过盈配合等；另外，所述连接臂2004可以与所述云台22一体成型。
本实施方式中，所述连接板2000与所述连接臂2004为一体成型。可以理解的是，所述第一连接件200的各组成部分也可不一体成型，而是采用各种公知的固定方式固定在一起，例如螺合、卡合、胶合、铆接、焊接、过盈配合等。
请一并参阅图2至图4，所述第二连接件204大致呈板状。所述第二连接件204上形成有第一连接部2040以及第二连接部2042。所述第一连接部2040用于将所述第二连接件204连接于所述机身1上，所述第二连接部2042对应于所述减震体202，用于连接对应的所述减震体202。
本实施方式中，所述第一连接部2040为形成于所述第二连接件204表面的具有内螺纹孔的凸柱，具体地，所述第一连接部2040形成于所述第二 连接件204背离所述第一连接件200的一侧表面上。本实施方式中，所述第一连接部2040为圆柱形凸柱。可以理解，所述第一连接部2040也可以为棱柱形凸柱、椭圆形凸柱、腰形凸柱等；或者，所述第一连接部2040也可以不为凸柱，而为直接开设于所述第二连接件204表面的螺纹孔，此时，所述机身1上可以形成对应于所述第一连接部2040的凸柱。与所述机身1组装时，所述第二连接件204可以通过穿过所述第一连接部2040的紧固件(如，螺栓、螺钉等)与所述机身1固定连接。
可以理解，在其他实施方式，所述第二连接件204与所述机身1之间可以通过其他方式连接，例如，卡合、胶合、铆接、焊接、过盈配合等；另外，所述第二连接件204与可以与所述机身1一体成型。
所述第二连接部2042包括对应于所述减震体202的卡合孔2042a以及对应于所述卡合孔2042a的凸缘2042b。所述卡合孔2042a用于与所述减震体202卡合，以将所述减震体202连接于所述第二连接件204。本实施方式中，所述卡合孔2042a为圆形孔，可以理解，所述卡合孔2042a也可以其他任意合适形状的孔，例如，三角形孔、方形孔、多边形孔、椭圆形孔等具有规则或者不规则形状的孔。
所述凸缘2042b凸出于所述第二连接件204背离所述第一连接件200的一侧表面上，所述凸缘2042b围设于对应的所述卡合孔2042a的周围。所述凸缘2042b与对应的所述卡合孔2042a周缘之间间隔预定距离，以在所述凸缘2042b与对应的所述卡合孔2042a周缘之间形成承靠面2042c。本实施方式中，所述凸缘2042b大致为圆环状凸缘，可以理解，所述凸缘2042b也可以为其他形状，例如椭圆形环状、多边形环状等；另外，所述凸缘2042b可以为整体连续的环状，也可以为由多段组成的不连续环状。所述承靠面2042c为所述第二连接件204背离所述第一连接件200的一侧表面平齐，在其他的实施方式中，所述承靠面2042c也可以高于或者低于所述第二连接件204背离所述第一连接件200的一侧表面。在所述减震体202卡入所述卡合孔2042a内时，所述凸缘2042b能够与对应的所述减震体202的侧部接触，防止所述减震体202相对于所述第二连接件204侧向运动，以使所述第二连接件204与对应的所述减震体202之间的连接更为稳定，减少所述第二连接件204与对应的所述减震体202之间的晃动。
可以理解，在其他的实施方式中，所述凸缘2042b也可以省略。
所述减震体202包括主体部2020、第一固定部2022及第二固定部2024，所述第一固定部2022以及所述第二固定部2024分别连接于所述主体部2020的相背的两侧。所述第一固定部2022与所述第一连接件200相连，所述第二固定部2024与所述第二连接件204相连。
本实施方式中，所述主体部2020大致为球形，其开设有第一贯孔2021及第二贯孔2023，其中所述第一贯孔2021及第二贯孔2023的开孔方向大致垂直，且所述第一贯孔2021及所述第二贯孔2023的中心点与所述减震体202的中心点重合，在一个所述主体部2020上开设多个贯孔，可以达到进一步减震的效果。所述主体部2020为弹性材料制成，例如橡胶、硅胶等。可以理解，在其他的实施方式中，所述主体部2020也可以为其他形状，例如多面体、椭球体等；所述第一贯孔2021及所述第二贯孔2023可以省略，或者，所述主体部2020上还可以开设有除所述第一贯孔2021及所述第二贯孔2023的其他贯孔。
所述第一固定部2022用于连接所述第一连接件200的所述连接臂2004的第一端部2005或第二端部2006。所述第二固定部2024用于连接所述第二连接件204。所述第一固定部2022为弹性材料制成的环套，可套接在所述第一端部2005或第二端部2006上，从而固定连接所述减震体202与所述第一连接件200。
所述第二固定部2024包括卡入部2024a以及与所述卡入部2024a相连的挡止部2024b，所挡止部2024b连接于所述卡入部2024a背离所述主体部2020的一端，所述挡止部2024b的尺寸大于所述卡入部2024a的尺寸，使得所述挡止部2024b于所述卡入部2024a的周缘形成凸出于所述卡入部2024a周侧面的凸缘。所述卡入部2024a的外周尺寸与对应的所述卡合孔2042a的尺寸大致相当。本实施方式中，所述卡入部2024a与所述挡止部2024b均大致为圆柱状，所述挡止部2024b与所述卡入部2024a共轴设置，且所述挡止部2024b的直径大于所述卡入部2024a的直径。所述挡止部2024b的厚度与所述凸缘2042b的高度大致相同，优选地，所述挡止部2024b的厚度略大于所述凸缘2042b的高度。
可以理解，所述挡止部2024b于所述卡入部2024a也可以为棱柱形凸柱、 椭圆形凸柱、腰形凸柱等其他合适的形状，另外，所述挡止部2024b与所述卡入部2024a的形状可以相同也可以不同。
图示的实施方式中，所述第一固定部2022及所述第二固定部2024与所述主体部2020为一体成型结构。在其他实施方式中，所述第一固定部2022和第二固定部2024也可以分别成型，通过胶合等方式与所述主体部2020固定连接。
所述减震结构20还包括对应于所述减震体202的防脱件206，所述防脱件206能够防止对应的所述减震体202自所述第二连接件204脱出。每一个所述防脱件206包括插接部2061以及与所述插接部2061相连的抵接部2062。本实施方式中，所述插接部2061大致呈圆柱状，所述抵接部2062大致呈圆盘状，所述抵接部2062的直径大于所述插接部2061的直径，使得所述防脱件206大致呈“┬”形。可以理解，所述插接部2061以及所述抵接部2062的形状不限于图示的实施方式，可以依据不同的需求作适当的变化，不再一一详述。所述插接部2061的长度小于所述减震体202的高度，换言之，所述插接部2061插入所述减震体202后并不能贯穿所述减震体202，因此，所述防脱件206不会在所述云台22以及所述机身1之间传递震动。
所述插接部2061远离所述抵接部2062的一端形成头部2061a，所述头部2061a的大致呈球状且直径大于所述插接部2061的直径。可以理解，所述插接部2061的形状可以为其他形状。对应于所述插接部2061，所述减震体202开设有插接孔2026，所述插接孔2026贯穿所述第二固定部2024并延伸至部分所述主体部2020内，本实施方式中，所述插接孔2026与所述第一贯孔2021及所述第二贯孔2023连通。优选地，所述插接孔2026的内径略小于所述插接部2061的直径，所述插接部2061插入所述插接孔2026内时，所述插接部2061的表面与所述插接孔2026的内表面紧密配合，所述插接部2061的外表面与所述插接孔2026的内表面之间的摩擦力使得所述防脱件206不易从插接孔2026脱出。所述头部2061a能够进一步防止所述防脱件206从插接孔2026脱出。
连接时，所述卡入部2024a卡入对应的所述卡合孔2042a，所述挡止部2024b承靠于所述承靠面2042c上，所述挡止部2024b的周侧面与所述凸缘2042b的内表面抵接，因此，所述凸缘2042b能够限制所述减震体202相对 于所述第二连接件204侧向运动，在所述减震体202因震动而拉伸时，所述挡止部2024b与所述承靠面2042c相抵持，能够防止所述第二固定部2024与所述第二连接件204之间的连接脱离；所述防脱件206的插接部2061插入对应的所述减震体202的插接孔2026内，所述抵接部2062抵接于所述挡止部2024b的表面，当所述减震体202因震动而拉伸时，所述减震体202拉动所述防脱件206共同运动，使得所述抵接部2062抵紧所述挡止部2024b，因此，所述挡止部2024b受到的摩擦阻力变大，能够方式所述挡止部2024b因为猛烈震动而脱出对应的所述卡合孔2042a，可以保证第二连接件204与所述减震体之间的连接的稳定性和牢固性。
可以理解，在其他方式中，所述第一固定部2022也可采用所述第二固定部2024类似的结构，此时，所述第一连接件200上可以设置与所述第二连接部2042类似的结构。
另外，对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (18)

  1. 一种云台减震结构，用于将云台连接至载体，所述云台减震结构包括能够与所述云台相连的第一连接件、能够与所述载体相连的第二连接件以及弹性设置于第一连接件以及所述第二连接件之间的减震体，其特征在于：所述云台减震结构还包括防脱件，所述防脱件与减震体相连并借由所述减震体因震动而拉伸的力将所述减震体抵持于所述第一连接件及所述第二连接件中的至少一个。
  2. 如权利要求1所述的云台减震结构，其特征在于：所述减震体为减震球。
  3. 如权利要求1所述的云台减震结构，其特征在于：所述减震体包括主体部、第一固定部及第二固定部，所述第一固定部以及所述第二固定部分别连接于所述主体部的相背的两侧，所述第一固定部与所述第一连接件相连，所述第二固定部与所述第二连接件相连。
  4. 如权利要求3所述的云台减震结构，其特征在于：所述主体部呈球形。
  5. 如权利要求3所述的云台减震结构，其特征在于：所述主体部开设有第一贯孔及第二贯孔。
  6. 如权利要求5所述的云台减震结构，其特征在于：所述第一贯孔及第二贯孔的开孔方向相互垂直；及/或，所述第一贯孔及所述第二贯孔的中心点与所述减震体的中心点重合。
  7. 如权利要求3所述的云台减震结构，其特征在于：所述第一固定部为弹性环套，其套设于所述第一连接件上。
  8. 如权利要求7所述的云台减震结构，其特征在于：所述第一连接件上形成有凹口，所述第一固定部套设于所述第一连接件的凹口位置处。
  9. 如权利要求3所述的云台减震结构，其特征在于：所述第二固定部包括卡入部以及与所述卡入部相连的挡止部，所述第二连接件开设有对应于所述卡入部的卡合孔，所述卡入部卡入所述卡合孔，所述挡止部穿过所述卡合孔并抵靠于所述第二连接件的表面，以防止所述卡入部自所述卡合孔脱出。
  10. 如权利要求9所述的云台减震结构，其特征在于：所述挡止部的尺寸大于所述卡入部的尺寸，使得所述挡止部于所述卡入部的周缘形成凸出于 所述卡入部周侧面的凸缘，所述凸缘抵靠于所述第二连接件的表面。
  11. 如权利要求9所述的云台减震结构，其特征在于：所述第二连接件上形成有对应于所述卡合孔的凸缘，所述凸缘围设于对应的所述卡合孔的周围，所述挡止部的周侧面与所述凸缘的内表面抵接。
  12. 如权利要求11所述的云台减震结构，其特征在于：所述挡止部的厚度与所述凸缘的高度相同，或者所述挡止部的厚度大于所述凸缘的高度。
  13. 如权利要求3所述的云台减震结构，其特征在于：所述防脱件包括插接部以及与所述插接部相连的抵接部，所述插接部与所述减震体插接，所述抵接部抵接所述减震体上并能够借由所述减震体因震动而拉伸的力将所述减震体抵持于所述第二连接件。
  14. 如权利要求13所述的云台减震结构，其特征在于：所述减震体开设有插接孔，所述插接孔贯穿所述第二固定部并延伸至部分所述主体部内，所述插接部与所述插接孔插接并与所述插接孔的内表面摩擦配合。
  15. 如权利要求13所述的云台减震结构，其特征在于：所述插接部的长度小于所述减震体的高度。
  16. 如权利要求13所述的云台减震结构，其特征在于：所述插接部远离所述抵接部的一端形成头部，所述头部的尺寸大于所述插接部的尺寸，所述头部与所述减震体摩擦配合。
  17. 一种云台组件，其特征在于：包括云台、连接于所述云台的负载以及如权利要求1至权利要求16任一项所述的云台减震结构。
  18. 一种无人机，包括机身及设置在机身上的云台组件，其特征在于：所述云台组件包括云台、连接于所述云台负载以及如权利要求1至权利要求16任一项所述的云台减震结构。
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